version: 66.07.10.p01
glider: 574
mission: 8
dive: 24
start: 12 8 113 11 24 27
data:
$ID,574
$MISSION,8
$DIVE,24
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,370
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4200
$TGT_DEFAULT_LON,-900
$TGT_AUTO_DEFAULT,0
$SM_CC,240
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14885.587
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3032
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,13
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1940
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-58.423965
$PRESSURE_SLOPE,0.00011710486
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,3
$GPS1,081213,111659,-5500.484,1.607,60,0.8,60,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-73.1
$GPS2,081213,112406,-5500.502,1.635,17,0.8,18,-20.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SBY
$TGT_LATLONG,-5500.000,0.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,318.5,1970,-27.8,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.90,-63.1,0.0,0.0,0,51,0.00,0.00,-25.23,0.000,2,0.000,0.000,66,1960,2085,0,0,0,0,0,0
$GC,54,-0.91,-145.9,3.0,-0.9,4,139,12.57,0.75,-66.50,0.000,4,0.280,0.076,2723,2448,3194,0,0,0,0,0,0
$GC,268,-0.91,-145.9,26.3,-19.5,40,276,0.03,0.80,0.00,0.000,6,0.221,0.039,2730,1926,3196,0,0,0,0,0,0
$GC,414,-0.91,-145.9,55.1,-20.0,65,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1926,3196,0,0,0,0,0,0
$GC,752,-0.91,-145.9,120.8,-18.6,116,755,0.00,0.50,0.00,0.000,4,0.000,0.037,2729,2287,3196,0,0,0,0,0,0
$GC,824,-0.91,-145.9,134.8,-18.0,122,829,0.00,0.52,0.00,0.000,6,0.000,0.041,2729,1940,3196,0,0,0,0,0,0
$GC,1152,-0.91,-145.9,192.2,-17.6,153,1156,0.00,0.52,0.00,0.000,4,0.000,0.039,2728,2315,3196,0,0,0,0,0,0
$GC,1224,-0.91,-145.9,206.4,-18.5,159,1230,0.00,0.57,0.00,0.000,6,0.000,0.041,2728,1936,3196,0,0,0,0,0,0
$GC,1549,-0.91,-145.9,266.0,-18.0,190,1553,0.00,1.05,0.00,0.000,4,0.000,0.039,2724,2613,3196,0,0,0,0,0,0
$GC,1630,-0.91,-145.9,279.9,-17.0,197,1635,0.03,1.05,0.00,0.000,6,0.215,0.039,2733,1938,3196,0,0,0,0,0,0
$GC,1960,-0.91,-145.9,334.1,-16.1,228,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1938,3196,0,0,0,0,0,0
$GC,2280,-0.91,-145.9,383.0,-15.1,258,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1938,3196,0,0,0,0,0,0
$GC,2602,-0.91,-145.9,429.8,-14.1,279,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1938,3196,0,0,0,0,0,0
$GC,2911,-0.91,-145.9,474.0,-14.1,294,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1937,3198,0,0,0,0,0,0
$GC,3221,-0.91,-145.9,516.9,-13.8,309,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1938,3199,0,0,0,0,0,0
$GC,3530,-0.91,-145.9,561.7,-14.7,324,3534,0.00,0.40,0.00,0.000,4,0.000,0.039,2733,2240,3199,0,0,0,0,0,0
$GC,3787,-0.91,-145.9,600.7,-14.9,335,3791,0.00,0.45,0.00,0.000,6,0.000,0.041,2733,1930,3200,0,0,0,0,0,0
$GC,4108,-0.91,-145.9,647.3,-14.5,351,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1931,3201,0,0,0,0,0,0
$GC,4417,-0.91,-145.9,690.8,-13.8,366,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1931,3201,0,0,0,0,0,0
$GC,4727,-0.91,-145.9,731.8,-13.1,381,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1930,3201,0,0,0,0,0,0
$GC,5036,-0.91,-145.9,770.1,-12.0,396,5040,0.00,0.40,0.00,0.000,4,0.000,0.057,2733,1653,3201,0,0,0,0,0,0
$GC,5119,-0.91,-145.9,780.4,-12.4,399,5124,0.00,0.38,0.00,0.000,6,0.000,0.039,2733,1923,3202,0,0,0,0,0,0
$GC,5434,-0.91,-145.9,817.8,-11.9,415,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1923,3201,0,0,0,0,0,0
$GC,5743,-0.91,-145.9,856.3,-12.9,430,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1923,3202,0,0,0,0,0,0
$GC,6053,-0.91,-145.9,895.5,-12.5,445,6056,0.00,0.62,0.00,0.000,4,0.000,0.041,2730,2365,3203,0,0,0,0,0,0
$GC,6152,-0.91,-145.9,908.1,-12.6,449,6156,0.00,0.65,0.00,0.000,6,0.000,0.040,2730,1934,3203,0,0,0,0,0,0
$GC,6473,-0.91,-145.9,948.3,-12.8,465,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1934,3203,0,0,0,0,0,0
$GC,6783,-0.91,-145.9,988.2,-13.3,480,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1934,3204,0,0,0,0,0,0
$STATE,6802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6802,begin apogee
$GC,6806,-0.16,0.0,990.8,13.2,481,6937,0.90,0.00,127.28,1.607,6,0.177,0.000,2974,1831,2600,0,0,0,0,0,0
$STATE,6938,end apogee,CONTROL_FINISHED_OK
$STATE,6938,begin climb
$GC,6940,0.91,145.9,993.9,0.0,487,7085,1.12,0.00,139.90,1.593,6,0.104,0.000,3312,1831,2004,0,0,0,0,0,0
$GC,7395,0.91,145.9,922.7,17.5,510,7399,0.00,2.40,0.00,0.000,4,0.000,0.063,3322,446,1996,0,0,0,0,0,0
$GC,7551,0.91,145.9,894.1,18.9,517,7555,0.00,2.17,0.00,0.000,6,0.000,0.028,3322,1801,1995,0,0,0,0,0,0
$GC,7877,0.91,145.9,836.5,17.6,533,7881,0.00,0.82,0.00,0.000,4,0.000,0.050,3324,1300,1995,0,0,0,0,0,0
$GC,8134,0.91,145.9,791.3,17.2,544,8139,0.00,0.85,0.00,0.000,6,0.000,0.030,3325,1860,1995,0,0,0,0,0,0
$GC,8456,0.91,145.9,734.9,17.7,560,8459,0.00,1.65,0.00,0.000,4,0.000,0.056,3331,840,1995,0,0,0,0,0,0
$GC,8623,0.91,145.9,703.4,19.9,567,8627,0.00,1.50,0.00,0.000,6,0.000,0.028,3331,1818,1995,0,0,0,0,0,0
$GC,8944,0.91,145.9,645.0,18.3,583,8948,0.00,1.15,0.00,0.000,4,0.000,0.054,3335,1115,1995,0,0,0,0,0,0
$GC,9072,0.91,145.9,620.2,20.3,588,9078,0.00,1.10,0.00,0.000,6,0.000,0.028,3334,1836,1995,0,0,0,0,0,0
$GC,9388,0.91,145.9,559.3,19.5,604,9392,0.00,1.27,0.00,0.000,4,0.000,0.053,3339,1056,1996,0,0,0,0,0,0
$GC,9557,0.91,145.9,526.8,20.2,611,9561,0.03,1.15,0.00,0.000,6,0.212,0.029,3331,1823,1995,0,0,0,0,0,0
$GC,9877,0.91,145.9,468.2,17.9,627,9881,0.00,1.38,0.00,0.000,4,0.000,0.054,3336,987,1995,0,0,0,0,0,0
$GC,9999,0.91,145.9,446.2,17.4,632,10004,0.00,1.30,0.00,0.000,6,0.000,0.028,3336,1836,1995,0,0,0,0,0,0
$GC,10322,0.91,145.9,393.0,16.0,650,10326,0.00,0.85,0.00,0.000,4,0.000,0.049,3338,1307,1996,0,0,0,0,0,0
$GC,10458,0.91,145.9,370.5,17.0,662,10462,0.03,0.77,0.00,0.000,6,0.204,0.031,3330,1845,1996,0,0,0,0,0,0
$GC,10791,0.91,145.9,314.3,17.5,693,10795,0.00,1.50,0.00,0.000,4,0.000,0.054,3335,928,1996,0,0,0,0,0,0
$GC,10930,0.91,145.9,288.6,18.0,705,10937,0.00,1.38,0.00,0.000,6,0.000,0.028,3335,1826,1996,0,0,0,0,0,0
$GC,11256,0.91,145.9,231.7,17.1,736,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1826,1996,0,0,0,0,0,0
$GC,11575,0.91,145.9,177.2,17.4,766,11579,0.00,2.25,0.00,0.000,4,0.000,0.058,3345,443,1996,0,0,0,0,0,0
$GC,11682,0.91,145.9,156.5,18.8,775,11687,0.08,2.10,0.00,0.000,6,0.217,0.029,3329,1824,1997,0,0,0,0,0,0
$GC,12010,0.91,145.9,102.1,16.9,805,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1824,1997,0,0,0,0,0,0
$GC,12357,0.91,145.9,48.7,14.6,865,12362,0.00,0.93,0.00,0.000,4,0.000,0.051,3331,1249,1997,0,0,0,0,0,0
$GC,12565,0.91,145.9,17.0,16.1,901,12573,0.00,0.88,0.00,0.000,6,0.000,0.030,3331,1849,1998,0,0,0,0,0,0
$GC,12622,0.91,145.9,7.4,16.4,910,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1849,1998,0,0,0,0,0,0
$STATE,12647,end climb,SURFACE_DEPTH_REACHED
$STATE,12648,begin surface coast
$FINISH,1.9,1.024322
$STATE,12667,end surface coast,CONTROL_FINISHED_OK
$STATE,12667,begin surface
$SM_CCo,12683,81.40,1.052,0,0,1620,240.14
$SM_GC,3.06,0.00,0.00,81.40,0.000,0.000,1.052,71,1932,1620,-9.24,-0.23,240.14
$IRIDIUM_FIX,-5438.56,0.00,081213,070716
$TT8_MAMPS,0.026964
$HUMID,62.99
$INTERNAL_PRESSURE,9.02826
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,22.1,41.306
$10V_AH,10.1,31.281
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.725,36.250,267.175,81.400,0.000,24.859,49.019,245.078,0.000,0.000,20.957,2262.459,7918.157,442.417,2457.325,116.998,0.000,1358.875,0.000,2101.080,0.000,1.008,0.000
$DEVICE_MAMPS,279.990,136.170,1606.500,1051.875,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.400,643.915,609.086,59.592,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,53606,917
$CAP_FILE_SIZE,112869,0
$CFSIZE,2097086464,2091810816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081213,145822,-5459.167,0.282,35,0.9,35,-20.2